CN112249565B - Robot for automatically cleaning medical waste - Google Patents
Robot for automatically cleaning medical waste Download PDFInfo
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- CN112249565B CN112249565B CN202011054490.5A CN202011054490A CN112249565B CN 112249565 B CN112249565 B CN 112249565B CN 202011054490 A CN202011054490 A CN 202011054490A CN 112249565 B CN112249565 B CN 112249565B
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- guide groove
- sliding seat
- electric cylinder
- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F5/00—Gathering or removal of refuse otherwise than by receptacles or vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
- B65B51/04—Applying separate sealing or securing members, e.g. clips
- B65B51/08—Applying binding material, e.g. to twisted bag necks
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Abstract
The invention discloses a robot for automatically cleaning medical waste, which comprises a walking device, a lifting device, a cantilever support, a furling device, a mechanical arm and a tying device, wherein the lifting device is arranged above the walking device and comprises an installation frame, a first sliding seat and a second sliding seat, the two sliding seats are oppositely arranged in the installation frame in a high-low mode and are movably connected with the installation frame through a lead screw guide rod mechanism. The furling device is fixedly connected with the first sliding seat through a cantilever support and comprises an installation disc, a gear assembly and a plurality of clamping assemblies, and the installation disc is arranged below the cantilever support. All clamping components are uniformly arranged below the mounting disc in an annular mode, and the gear assembly can drive the clamping components to move. The tying device is positioned below the furling device and comprises a tying box, a tape storage mechanism, a tape conveying mechanism, a tape drawing mechanism and a locking assembly. The medical garbage bag collecting device is ingenious in structural design and high in automation degree, replaces manual work to collect medical garbage bags, saves trouble and labor, and improves collecting efficiency.
Description
Technical Field
The invention relates to the technical field of medical instruments, and particularly discloses a robot for automatically cleaning medical waste.
Background
Medical waste places in the garbage bin, deposits a period of time and just need collect and transport unified processing away, and a certain amount of germ can be multiplied to the time of depositing, and current medical waste all adopts the manual work to clear up, and gloves and gauze mask are worn to the working process, avoid being infected with the bacterium, and whole process intensity of labour is big, wastes time and energy, and cleaning efficiency is low, wears the protective apparatus and especially brings various discomforts easily summer. Therefore, there is a need to develop a robot capable of automatically cleaning medical waste bags instead of manual cleaning.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a robot for automatically cleaning medical waste, which solves the problems of high labor intensity, time and labor waste, low working efficiency, and especially easy contamination of germs, and great threat to health in the process of manually cleaning medical waste.
In order to achieve the purpose, the invention adopts the technical scheme that:
a robot for automatically cleaning medical waste comprises a walking device, a lifting device, a cantilever support, a furling device, a mechanical arm and a tying device, wherein the walking device comprises a base and walking wheels, and a power supply and an electric control device are arranged on the inner side of the base;
the lifting device is fixedly arranged above the walking device and comprises an installation frame, a first sliding seat and a second sliding seat, wherein the first sliding seat and the second sliding seat are arranged in the installation frame in a high-low opposite mode and are movably connected with the installation frame through a lead screw guide rod mechanism;
the furling device is positioned on the right side of the mounting frame, is fixedly connected with the first sliding seat through a cantilever support and comprises a mounting disc, a gear assembly and a plurality of clamping assemblies, and the mounting disc is arranged below the cantilever support;
all the clamping components are uniformly arranged below the mounting disc in an annular shape and are movably connected with the mounting disc through vertical connecting rods, and the gear components can drive the clamping components and the mounting disc to rotate;
the tying device is positioned below the furling device and comprises a tying box, a tape storage mechanism, a tape conveying mechanism, a tape drawing mechanism and a locking assembly, wherein the tape storage mechanism, the tape conveying mechanism, the tape drawing mechanism and the locking assembly are arranged on the tying box;
the left end of the cantilever support is fixedly connected with the first sliding seat, the mounting disc is in running fit with the cantilever support through a shaft sleeve, and the upper end of the shaft sleeve is fixedly connected with an output shaft of the brake motor;
the mounting disc is provided with first long circular holes which are equal to the clamping assemblies in number and correspond to the clamping assemblies one by one, and the first long circular holes are uniformly distributed on the mounting disc in an annular shape and extend along the normal direction of the mounting disc;
a guide rail is arranged above each first long circular hole, a guide sliding block in sliding fit with the guide rail is arranged at the bottom of the guide rail, the upper end of each connecting rod penetrates through the corresponding first long circular hole to be fixedly connected with the guide sliding block, and the guide sliding block drives the corresponding clamping assembly to move along the guide rail through the connecting rod;
the gear assembly comprises a big fluted disc, a pinion and a third servo motor, the big fluted disc is positioned below the mounting disc, and a fluted disc shaft of the big fluted disc extends into the shaft sleeve and is coaxially and rotationally matched with the shaft sleeve;
the pinion is positioned on the left side of the big fluted disc and is meshed with the outside of the big fluted disc, a gear shaft of the pinion is fixedly connected with the output end of a third servo motor, and the third servo motor is arranged at the top of the cantilever support;
the big fluted disc is provided with second long round holes which are equal to the first long round holes in number and correspond to the first long round holes one by one, the extending direction of each second long round hole is inclined relative to the extending direction of the first long round hole, and the lower end of each connecting rod penetrates through the second long round hole corresponding to the first long round hole where the connecting rod is located and is fixedly connected with the clamping assembly;
each clamping assembly is positioned below the corresponding guide slide block and comprises a support frame, a first electric cylinder and two clamping jaws, the top of the support frame is fixedly connected with the lower end of the corresponding connecting rod, and the first electric cylinder is fixedly arranged on the support frame;
the piston rod of the first electric cylinder is provided with a cross brace, the middle part of the cross brace is fixedly connected with the end part of the piston rod of the first electric cylinder, and the cross brace is pasted with a double-sided adhesive tape.
The two clamping jaws are symmetrically arranged on two sides of the lower end of the support frame, the upper ends of the clamping jaws are rotationally connected with the support frame, the middle parts of the clamping jaws are rotationally connected with the corresponding ends of the cross braces through push-pull rods, and the first electric cylinder drives the two clamping jaws to open or clamp through the push-pull rods;
the bundling box is of a rectangular structure with a cavity, the right side of the bundling box is provided with a strip-shaped notch, and the tape storage mechanism is arranged in the tape storage cavity on the left side of the bundling box;
the front side wall and the rear side wall of the strip-shaped notch of the binding box are respectively provided with a first straight guide groove and a second straight guide groove which are communicated with each other through a first arc-shaped guide groove positioned on the left end side wall of the strip-shaped notch;
the left end of the first straight guide groove is communicated with the belt storage cavity through the belt conveying channel, the front end of the first arc-shaped guide groove is communicated with a section of belt outlet channel, and the belt drawing mechanism is arranged on the belt outlet channel;
the locking assembly is arranged on the right side of the bundling box and comprises a locking seat, a locking block and a second electric cylinder, and one end of the locking seat is hinged with the right end, located on the first arc-shaped guide groove, of the bundling box;
the second electric cylinder is arranged in the bundling box, the end part of a piston rod of the second electric cylinder is hinged with the locking seat, and the second electric cylinder drives the locking seat to rotate, so that the other end of the second electric cylinder is in butt joint with the right end of the second straight guide groove;
the locking block is arranged in the locking seat, a third electric cylinder is arranged on the locking seat, and a piston rod of the second electric cylinder drives the locking block to be in sliding fit with the locking seat;
the side wall of the locking block is provided with a second arc-shaped guide groove, the front end of the second arc-shaped guide groove is communicated with the first straight guide groove through a third arc-shaped guide groove positioned on the front side of the left end of the locking seat, and the rear end of the second arc-shaped guide groove is communicated with the second straight guide groove through a fourth arc-shaped guide groove positioned on the rear side of the left end of the locking seat;
the tape storage mechanism comprises a tape storage tray, and a rotating shaft of the tape storage tray is in rotating fit with the bottom of the bundling box;
a belt pressing wheel is arranged above the belt storage tray, the belt pressing wheel is arranged at one end of a push rod, the push rod is in sliding fit with the bundling box, and a spring is arranged at the other end of the push rod;
the belt feeding mechanism is arranged on the belt feeding channel and comprises two belt feeding rollers which are arranged up and down, wherein one belt feeding roller is connected with the output end of the fourth servo motor;
the belt drawing mechanism comprises two drawing rollers which are arranged one above the other, and one of the drawing rollers is connected with the output end of the fifth servo motor.
Preferably, the two groups of walking wheels are symmetrically arranged on the left side and the right side of the base, and each group of walking wheels comprises at least two walking wheels which are arranged at intervals from front to back;
each walking wheel is provided with a first servo motor, each first servo motor is powered by a power supply arranged on the base, and signal ends of the first servo motors are communicated and connected by an electric control device arranged on the base.
Preferably, the mounting bracket is made by C shaped steel, and its opening is towards the right side, and C shaped steel's upper end is equipped with the roof, and the lower extreme links integratively with the base stationary phase.
The screw guide rod mechanism comprises a first screw, a second screw and four guide rods, the four guide rods are vertically arranged on four corners of a square, the upper ends of the four guide rods are fixedly connected with the top plate, and the lower ends of the four guide rods are fixedly connected with the top of the bottom frame.
The four guide rods penetrate through the first sliding seat and the second sliding seat, the first lead screw and the second lead screw are vertically arranged among the four guide rods, the lower end of each lead screw is respectively provided with a second servo motor, and the first lead screw and the second lead screw respectively drive the first sliding seat and the second sliding seat to independently lift.
Preferably, the mechanical arm comprises an upper arm, a middle arm and a forearm, and two ends of the upper arm are respectively connected with one end of the second sliding seat and one end of the middle arm in a rotating mode through a joint assembly.
One end of the middle arm is rotatably connected with one end of the front arm through the same joint component, and the other end of the front arm is fixedly connected with the left end of the bundling box.
In addition, the invention also provides an automatic cleaning method of medical waste, which is based on the robot for automatically cleaning medical waste, and the specific technical scheme is as follows:
an automatic cleaning method for medical waste comprises the following working steps:
the walking device moves to one side of the garbage can, the lifting device adjusts the height of the cantilever support through the first sliding seat, the pinion drives the big fluted disc to rotate and is matched with the rotation of the mounting disc, the clamping assemblies are adjusted to the outer end of the mounting disc, and each clamping assembly corresponds to the upper edge of the medical garbage can;
the first electric cylinder drives the two clamping jaws to open through the cross arm, the first sliding seat drives the clamping assemblies to continue to move downwards through the cantilever support, the double-sided adhesive tape at the bottom of the cross arm is in contact with and adhered to the plastic bag at the upper edge of the medical garbage can, and the first electric cylinder drives the cross arm to ascend;
the two clamping jaws clamp the plastic bag and lift the plastic bag to a certain height, and the bottom of the plastic bag is still tightly pressed on the garbage can; then, the large fluted disc drives each clamping assembly to contract inwards through the driving connecting rod, after the clamping assemblies are in place, the brake motor releases the brake on the mounting disc, the mounting disc rotates along with the large fluted disc, and drives the bag opening of the plastic bag to rotate, so that the upper part of the plastic bag forms a necking structure;
the second electric cylinder drives the locking seat and the locking block to be positioned at the front side of the long-strip notch, the long-strip notch is kept in an open state, and when the necking part of the plastic bag enters the long-strip notch and reaches the left end of the long-strip notch, the second electric cylinder drives the locking seat and the locking block to close the long-strip notch, and the first straight guide groove, the third arc guide groove, the second arc guide groove, the fourth arc guide groove, the second straight guide groove and the first arc guide groove are sequentially connected end to form a closed annular structure;
the two belt conveying rollers drive the end portion of the binding belt to sequentially pass through the guide grooves, when the perforating position of the binding belt corresponds to the belt outlet channel, the belt conveying rollers do not rotate any more, the perforating hole of the binding belt is kept at the position, and the end portion of the binding belt reaches the front end of the first arc-shaped guide groove.
At the moment, the third electric cylinder drives the locking block to move leftwards relative to the locking seat to extrude the binding belt and the plastic bag, the end part of the binding belt penetrates through the through hole of the locking block and reaches the position of the traction rollers, the two traction rollers rotate to continue to stretch the end part of the binding belt, and the clamping jaws in the through hole clamp teeth on one side of the binding belt, so that the binding belt tightens the plastic bag; the locking block continuously compresses the necking position of the plastic bag in the long-strip notch, and the lifting device is matched with the mechanical arm to lift the garbage bag out of the garbage can and convey the garbage bag to the garbage transfer trolley.
The automatic cleaning method for the medical waste is an operation method of the robot for automatically cleaning the medical waste, and the robot is favorable for automatically cleaning the medical waste.
By adopting the technical scheme, the invention has the beneficial technical effects that: the medical garbage bag collecting and cleaning device is ingenious in structural design and high in automation degree, replaces manual work to collect (or clean) medical garbage bags, is trouble-saving and labor-saving, improves cleaning efficiency, meanwhile, avoids manual work from directly contacting medical garbage, avoids infection of viruses, and guarantees physical health of workers.
Drawings
Fig. 1 is a schematic structural diagram of a medical waste collection robot according to the present invention.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a schematic top view of a medical waste collection robot according to the present invention.
Fig. 4 is a schematic view of a portion of fig. 1 showing the mounting disk, the large toothed disk and associated parts.
Fig. 5 is a schematic structural view of a portion of fig. 4, showing a large toothed disc.
Fig. 6 is a schematic structural view of another portion of fig. 4, showing the mounting disk and associated parts.
Fig. 7 is a schematic structural view of a part of fig. 6, showing relevant parts such as a link, a guide rail, and a guide slider.
Fig. 8 is a schematic view of another portion of fig. 1 showing a tying device.
Figure 9 is a schematic view of the construction of a tie used in the present invention.
Fig. 10 is a schematic structural view of the tying device shown in fig. 7 in a state where the locking blocks are ejected.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
example 1
With reference to fig. 1 to 10, a robot for automatically cleaning medical waste comprises a walking device 1, a lifting device 2, a cantilever support 3, a furling device 4, a mechanical arm 5 and a tying device 6, wherein the walking device 1 comprises a base 11 and walking wheels 12, and a power supply 13 and an electric control device 14 are arranged on the inner side of the base 11. The walking wheels 12 are symmetrically arranged on the left side and the right side of the base 11, and each group of walking wheels 12 comprises two walking wheels 12 which are arranged at intervals from front to back. Each walking wheel 12 is provided with a first servo motor 15, each first servo motor 15 is powered by a power supply 13 arranged on the base 11, the signal ends of the first servo motors are communicated and connected by an electric control device 14 arranged on the base 11, and the electric control device 14 adopts an existing single chip microcomputer in the prior art.
Elevating gear 2 fixed mounting is in running gear 1's top, and it includes mounting bracket 21, first sliding seat 22 and second sliding seat 23, and mounting bracket 21 is made by C shaped steel, and its opening is towards the right side, and the upper end of C shaped steel is equipped with the roof, and the lower extreme links integratively with base 11 stationary phase. The first sliding seat 22 and the second sliding seat 23 are arranged in the mounting frame 21 in a high-low opposite manner, and are movably connected with the mounting frame 21 through a lead screw guide rod mechanism.
The screw guide rod mechanism comprises a first screw 24, a second screw 25 and four guide rods 26, wherein the four guide rods 26 are vertically arranged at four corners of a square, the upper ends of the four guide rods are fixedly connected with the top plate, and the lower ends of the four guide rods are fixedly connected with the top of the bottom frame. The four guide rods 26 penetrate through the first sliding seat 22 and the second sliding seat 23, the first lead screw 24 and the second lead screw 25 are vertically arranged between the four guide rods 26, the lower end of each lead screw is respectively provided with a second servo motor 27, and the first lead screw 24 and the second lead screw 25 respectively drive the first sliding seat 22 and the second sliding seat 23 to independently lift. Specifically, the first lead screw 24 is in threaded fit with the first sliding seat 22, the second lead screw 25 is in threaded fit with the second sliding seat 23, a square window is formed in a position where the first sliding seat 22 corresponds to the second lead screw 25, the second lead screw 25 penetrates through the square window and is not in contact with the first sliding seat 22, it is ensured that the first sliding seat 22 and the second sliding seat 23 are driven independently, each second servo motor 27 drives the corresponding lead screw to rotate, and the lead screw drives the corresponding sliding seat to rise or fall along the guide rod 26.
The furling device 4 is located on the right side of the mounting frame 21, is fixedly connected with the first sliding seat 22 through the cantilever support 3, and comprises a mounting disc 41, a gear assembly and a plurality of clamping assemblies, wherein the mounting disc 41 is arranged below the cantilever support 3. The left end of the cantilever support 3 is fixedly connected with the first sliding seat 22, the mounting disc 41 is in running fit with the cantilever support 3 through a shaft sleeve, and the upper end of the shaft sleeve is connected with an output shaft of a brake motor 42 in fixed connection. The mounting disc 41 is provided with first long circular holes 411 which are equal to the clamping assemblies in number and correspond to the clamping assemblies one by one, and the first long circular holes 411 are uniformly arranged on the mounting disc 41 in an annular mode and extend along the normal direction of the mounting disc 41.
All clamping assemblies are uniformly arranged below the mounting disc 41 in an annular shape and are movably connected with the mounting disc 41 through a vertical connecting rod 43, and the gear assembly can drive the clamping assemblies and the mounting disc 41 to rotate. A guide rail 44 is arranged above each first long circular hole 411, a dovetail groove with the direction consistent with that of the first long circular hole 411 below is formed in the bottom of each guide rail 44, a guide sliding block 45 in sliding fit with the bottom of each guide rail 44 is arranged at the bottom of each guide rail 44, each guide sliding block 45 slides in the dovetail groove, the upper end of each connecting rod 43 penetrates through the corresponding first long circular hole 411 to be fixedly connected with the guide sliding block 45, and the guide sliding blocks 45 drive the corresponding clamping assembly to move along the guide rails 44 through the connecting rods 43. Since the guide rails 44 are aligned with the corresponding first oblong holes 411, each guide slider 45 and the link 43 therebelow can slide along the corresponding guide rail 44.
The gear assembly comprises a big fluted disc 46, a small gear 47 and a third servo motor 48, wherein the big fluted disc 46 is positioned below the mounting disc 41, and a fluted disc shaft of the big fluted disc 46 extends to the inside of the shaft sleeve and is coaxially and rotationally matched with the shaft sleeve. The pinion 47 is positioned at the left side of the big fluted disc 46 and is meshed with the big fluted disc, the gear shaft of the pinion 47 is fixedly connected with the output end of a third servo motor 48, and the third servo motor 48 is arranged at the top of the cantilever bracket 3. The fluted disc 46 is provided with second oblong holes 461 which are equal in number and correspond to the first oblong holes 411 one by one, the extending direction of each second oblong hole 461 is inclined relative to the extending direction of the first oblong hole 411, and the lower end of each connecting rod 43 passes through the second oblong hole 461 corresponding to the first oblong hole 411 where the connecting rod is located and is fixedly connected with the clamping assembly. The pinion 47 drives the big gear disc 46 to rotate, when the big gear disc 46 rotates, the brake motor 42 brakes the mounting disc 41, the big gear disc 46 can drive each connecting rod 43 to move along the first long circular hole 411, and the connecting rods 43 drive all the clamping assemblies to contract inwards or expand outwards.
Each clamping assembly is located below the corresponding guide sliding block 45 and comprises a supporting frame 71, a first electric cylinder 72 and two clamping jaws 73, the top of the supporting frame 71 is fixedly connected with the lower end of the corresponding connecting rod 43, and the first electric cylinder 72 is fixedly installed on the supporting frame 71. A cross brace 74 is arranged on a piston rod of the first electric cylinder 72, the middle part of the cross brace 74 is fixedly connected with the end part of the piston rod of the first electric cylinder 72, and a double-sided adhesive tape is pasted on the cross brace 74. The two clamping jaws 73 are symmetrically arranged on two sides of the lower end of the support frame 71, the upper ends of the clamping jaws 73 are rotatably connected with the support frame 71, the middle parts of the clamping jaws 73 are rotatably connected with the corresponding ends of the cross braces 74 through the push-pull rods 75, and the first electric cylinder 72 drives the two clamping jaws 73 to open or clamp through the push-pull rods 75.
Under the operating condition, running gear 1 moves to one side of garbage bin, and elevating gear 2 adjusts cantilever 3's height through first sliding seat 22, and pinion 47 drive big fluted disc 46 rotates, cooperatees with the rotation of installation disc 41, adjusts the clamping components to the outer end of installation disc 41, and each clamping components corresponds with the last border of medical trash bin respectively. Meanwhile, the first electric cylinder 72 drives the two clamping jaws 73 to open through the cross arm 74, the first sliding seat 22 drives the clamping assemblies to continue to move downwards through the cantilever support 3, the double-sided adhesive tape at the bottom of the cross arm 74 is contacted with and adhered to the plastic bag at the upper edge of the medical garbage can, the first electric cylinder 72 drives the cross arm 74 to ascend, meanwhile, the two clamping jaws 73 clamp the plastic bag and lift the plastic bag to a certain height, and at the moment, the bottom of the plastic bag is still pressed against the garbage can. Then, the big toothed disc 46 drives the clamping assemblies to contract inwards through the driving connecting rod 43, after the clamping assemblies are in place, the brake motor 42 releases the brake on the mounting disc 41, the mounting disc 41 rotates along with the big toothed disc 46, and the opening of the plastic bag is driven to rotate, so that the necking structure is formed at the upper part of the plastic bag.
The tying device 6 is located below the furling device 4 and comprises a tying box 61, and a tape storage mechanism, a tape feeding mechanism, a tape drawing mechanism and a locking assembly 8 which are arranged on the tying box 61, wherein the left end of the tying box 61 is movably connected with the second sliding seat 23 through a mechanical arm 5. The mechanical arm 5 comprises an upper arm 51, a middle arm 52 and a forearm 53, and two ends of the upper arm 51 are respectively and rotatably connected with one end of the second sliding seat 23 and one end of the middle arm 52 through joint components. One end of the middle arm 52 is pivotally connected to one end of the front arm 53 by the same joint assembly, and the other end of the front arm 53 is fixedly connected to the left end of the packing box 61.
The invention adopts the binding tapes made of the existing plastics in the prior art to bind the opening of the plastic bag, and the binding tapes are shown in figure 8, and a plurality of binding tapes are connected end to end in sequence. The strapping box 61 is a rectangular structure with a cavity, with a long slot 62 on the right side, and the strap storage mechanism is disposed in a strap storage cavity 68 on the left side of the strapping box 61. The tape storage mechanism comprises a tape storage tray 91, a rotating shaft of the tape storage tray 91 is matched with the bottom of the bundling box 61 in a rotating mode, a cover body is arranged at the position, located above the tape storage cavity 68, of the bundling box 61, the cover body is opened, a coiled tape can be placed on the tape storage tray 91, and the coiled tape can rotate along with the tape storage tray 91. The upper side of the tape storage tray 91 is provided with a tape pressing wheel 92, the tape pressing wheel 92 is arranged at one end of a push rod 93, a wheel shaft of the tape pressing wheel 92 is in rotating fit with the push rod 93, the push rod 93 is in sliding fit with the solid part of the bundling box 61 to ensure that the push rod 93 moves linearly along the axis of the push rod 93, and the other end of the push rod 93 is provided with a spring 94. The spring 94 is always under compression and the spring force presses the pinch roller 92 against the outer surface of the coiled tie via the push rod 93, preventing it from loosening.
The front and rear side walls of the binding box 61, which are located on the long strip notch 62, are respectively provided with a first straight guide groove 63 and a second straight guide groove 64, and the first straight guide groove 63 and the second straight guide groove 64 are communicated with each other through a first arc-shaped guide groove 65 located on the left end side wall of the long strip notch 62. The left end of the first straight guide groove 63 is communicated with a belt storage cavity 68 through a belt feeding channel 66, the front end of the first arc-shaped guide groove 65 is communicated with a section of belt discharging channel 67, and the belt drawing mechanism is arranged on the belt discharging channel 67. The tape feeding mechanism is arranged on the tape feeding channel 66 and comprises two tape feeding rollers 95 arranged one above the other, wherein one of the tape feeding rollers 95 is connected with the output end of a fourth servo motor 97. The draw mechanism includes two pull rollers 96 arranged one above the other, one of the pull rollers 96 being connected to the output of a fifth servomotor 98.
One end of the wound-up band is inserted into the band-feeding passage 66 and passed between the two band-feeding rollers 95, and the two band-feeding rollers 95 pinch the band and feed it to the right side into the first straight guide groove 63.
Specifically, the locking assembly 8 is disposed at the right side of the bundling box 61 and includes a locking seat 81, a locking block 82 and a second electric cylinder 83, wherein one end of the locking seat 81 is hinged to the right end of the bundling box 61 located in the first arc-shaped guide slot 65. The second electric cylinder 83 is arranged in the bundling box 61, the end part of the piston rod of the second electric cylinder is hinged with the locking seat 81, and the second electric cylinder 83 drives the locking seat 81 to rotate, so that the other end of the second electric cylinder is in butt joint with the right end of the second straight guide groove 64. The locking block 82 is arranged in the locking seat 81, a third electric cylinder 84 is arranged on the locking seat 81, and a piston rod of the second electric cylinder 83 drives the locking block 82 to be in sliding fit with the locking seat 81. A second arc-shaped guide groove 821 is formed in the side wall of the locking block 82, the front end of the second arc-shaped guide groove 821 is communicated with the first straight guide groove 63 through a third arc-shaped guide groove 811 located on the front side of the left end of the locking seat 81, and the rear end of the second arc-shaped guide groove 821 is communicated with the second straight guide groove 64 through a fourth arc-shaped guide groove 812 located on the rear side of the left end of the locking seat 81.
Under the operating condition, electronic jar 83 of second drives locking seat 81, the latch segment 82 is located the front side of rectangular notch 62, rectangular notch 62 keeps open state, when the necking down position of plastic bag gets into rectangular notch 62 in and reaches its left end, electronic jar 83 of second drives locking seat 81, the closed rectangular notch 62 of latch segment 82, first straight guide slot 63, third arc guide slot 811, second arc guide slot 821, fourth arc guide slot 812, second straight guide slot 64 and first arc guide slot 65 connect into closed loop configuration end to end in proper order. The two feed rollers 95 drive the end of the band through the respective guide slots in sequence, and when the position of the perforation of the band corresponds to the exit channel 67, the feed rollers 95 are no longer rotated, the perforation of the band remains in this position, and the end of the band reaches the front end of the first arcuate guide slot 65.
At this time, the third electric cylinder 84 drives the locking block 82 to move leftwards relative to the locking seat 81 to squeeze the tie and the plastic bag, the end portion of the tie passes through the through hole of the tie and reaches the position of the pulling rollers 96, the two pulling rollers 96 rotate to continue to pull the end portion of the tie, and the claw in the through hole clamps the teeth on one side of the tie, so that the tie tightens the plastic bag. The locking blocks 82 continue to compress the necked position of the bag within the elongated slot 62 and the elevator assembly 2 cooperates with the robotic arm 5 to lift the bag from the bin and onto the waste transport vehicle.
By above structure and process description difficult to see out, robot structural design is ingenious in this embodiment 1, and degree of automation is high, replaces the manual work to carry out the clearance of medical waste bag, and it is laborsaving to save trouble, has improved cleaning efficiency, simultaneously, avoids artifical direct contact medical waste, avoids receiving the infection of virus, ensures that the staff's is healthy.
Example 2
This embodiment 2 describes an automatic medical waste disposal method, which is an operation method of the robot for automatically disposing medical waste in embodiment 1.
By the automatic cleaning method, the robot can automatically clean medical waste.
The specific process is as follows:
under the operating condition, running gear 1 moves to one side of garbage bin, and elevating gear 2 adjusts cantilever 3's height through first sliding seat 22, and pinion 47 drive big fluted disc 46 rotates, cooperatees with the rotation of installation disc 41, adjusts the clamping components to the outer end of installation disc 41, and each clamping components corresponds with the last border of medical trash bin respectively.
The first electric cylinder 72 drives the two clamping jaws 73 to open through the cross arm 74, the first sliding seat 22 drives the clamping components to move downwards continuously through the cantilever support 3, the double-sided adhesive tape at the bottom of the cross arm 74 is contacted with and adhered to the plastic bag at the upper edge of the medical garbage can, and the first electric cylinder 72 drives the cross arm 74 to ascend.
The two jaws 73 grip the plastic bag and lift it to a certain height, at which point the bottom of the plastic bag is still pressed against the trash can. Then, the big toothed disc 46 drives the clamping assemblies to contract inwards through the driving connecting rod 43, after the clamping assemblies are in place, the brake motor 42 releases the brake on the mounting disc 41, the mounting disc 41 rotates along with the big toothed disc 46, and the opening of the plastic bag is driven to rotate, so that the necking structure is formed at the upper part of the plastic bag.
The electronic jar 83 of second drives locking seat 81, the latch segment 82 is located the front side of rectangular notch 62, rectangular notch 62 keeps open state, when the necking down position of plastic bag gets into rectangular notch 62 in and reaches its left end, the electronic jar 83 of second drives locking seat 81, the closed rectangular notch 62 of latch segment 82, first straight guide slot 63, third arc guide slot 811, second arc guide slot 821, fourth arc guide slot 812, second straight guide slot 64 and first arc guide slot 65 connect gradually end to end into closed loop configuration.
The two feed rollers 95 drive the end of the band through the respective guide slots in sequence, and when the position of the perforation of the band corresponds to the exit channel 67, the feed rollers 95 are no longer rotated, the perforation of the band remains in this position, and the end of the band reaches the front end of the first arcuate guide slot 65. At this time, the third electric cylinder 84 drives the locking block 82 to move leftwards relative to the locking seat 81 to squeeze the tie and the plastic bag, the end portion of the tie passes through the through hole of the tie and reaches the position of the pulling rollers 96, the two pulling rollers 96 rotate to continue to pull the end portion of the tie, and the claw in the through hole clamps the teeth on one side of the tie, so that the tie tightens the plastic bag.
The locking blocks 82 continue to compress the necked position of the bag within the elongated slot 62 and the elevator assembly 2 cooperates with the robotic arm 5 to lift the bag from the bin and onto the waste transport vehicle.
The method in embodiment 2 provides the operation method of the robot in embodiment 1, which is beneficial to realizing the automatic cleaning work of the robot on the medical waste, and compared with manual medical waste bag collection, the method saves labor and time and improves the collection efficiency.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (4)
1. A robot for automatically cleaning medical waste is characterized by comprising a walking device, a lifting device, a cantilever support, a furling device, a mechanical arm and a tying device; wherein:
the walking device comprises a base and walking wheels, and a power supply and an electric control device are arranged on the inner side of the base;
the lifting device is fixedly arranged above the walking device and comprises an installation frame, a first sliding seat and a second sliding seat, wherein the first sliding seat and the second sliding seat are arranged in the installation frame in a high-low opposite mode and are movably connected with the installation frame through a lead screw guide rod mechanism;
the furling device is positioned on the right side of the mounting frame, is fixedly connected with the first sliding seat through a cantilever support and comprises a mounting disc, a gear assembly and a plurality of clamping assemblies, and the mounting disc is arranged below the cantilever support;
all the clamping components are uniformly arranged below the mounting disc in an annular shape and are movably connected with the mounting disc through vertical connecting rods, and the gear components can drive the clamping components and the mounting disc to rotate;
the tying device is positioned below the furling device and comprises a tying box, a tape storage mechanism, a tape conveying mechanism, a tape drawing mechanism and a locking assembly, wherein the tape storage mechanism, the tape conveying mechanism, the tape drawing mechanism and the locking assembly are arranged on the tying box;
the left end of the cantilever support is fixedly connected with the first sliding seat, the mounting disc is in running fit with the cantilever support through a shaft sleeve, and the upper end of the shaft sleeve is fixedly connected with an output shaft of the brake motor;
the mounting disc is provided with first long circular holes which are equal to the clamping assemblies in number and correspond to the clamping assemblies one by one, and the first long circular holes are uniformly distributed on the mounting disc in an annular shape and extend along the normal direction of the mounting disc;
a guide rail is arranged above each first long circular hole, a guide sliding block in sliding fit with the guide rail is arranged at the bottom of the guide rail, the upper end of each connecting rod penetrates through the corresponding first long circular hole to be fixedly connected with the guide sliding block, and the guide sliding block drives the corresponding clamping assembly to move along the guide rail through the connecting rod;
the gear assembly comprises a big fluted disc, a pinion and a third servo motor, the big fluted disc is positioned below the mounting disc, and a fluted disc shaft of the big fluted disc extends into the shaft sleeve and is coaxially and rotationally matched with the shaft sleeve;
the pinion is positioned on the left side of the big fluted disc and is meshed with the outside of the big fluted disc, a gear shaft of the pinion is fixedly connected with the output end of a third servo motor, and the third servo motor is arranged at the top of the cantilever support;
the big fluted disc is provided with second long round holes which are equal to the first long round holes in number and correspond to the first long round holes one by one, the extending direction of each second long round hole is inclined relative to the extending direction of the first long round hole, and the lower end of each connecting rod penetrates through the second long round hole corresponding to the first long round hole where the connecting rod is located and is fixedly connected with the clamping assembly;
each clamping assembly is positioned below the corresponding guide slide block and comprises a support frame, a first electric cylinder and two clamping jaws, the top of the support frame is fixedly connected with the lower end of the corresponding connecting rod, and the first electric cylinder is fixedly arranged on the support frame;
a piston rod of the first electric cylinder is provided with a cross brace, the middle part of the cross brace is fixedly connected with the end part of the piston rod of the first electric cylinder, and a double-sided adhesive tape is adhered to the cross brace;
the two clamping jaws are symmetrically arranged on two sides of the lower end of the support frame, the upper ends of the clamping jaws are rotationally connected with the support frame, the middle parts of the clamping jaws are rotationally connected with the corresponding ends of the cross braces through push-pull rods, and the first electric cylinder drives the two clamping jaws to open or clamp through the push-pull rods;
the bundling box is of a rectangular structure with a cavity, the right side of the bundling box is provided with a strip-shaped notch, and the tape storage mechanism is arranged in the tape storage cavity on the left side of the bundling box;
the front side wall and the rear side wall of the strip-shaped notch of the binding box are respectively provided with a first straight guide groove and a second straight guide groove which are communicated with each other through a first arc-shaped guide groove positioned on the left end side wall of the strip-shaped notch;
the left end of the first straight guide groove is communicated with the belt storage cavity through the belt conveying channel, the front end of the first arc-shaped guide groove is communicated with a section of belt outlet channel, and the belt drawing mechanism is arranged on the belt outlet channel;
the locking assembly is arranged on the right side of the bundling box and comprises a locking seat, a locking block and a second electric cylinder, and one end of the locking seat is hinged with the right end, located on the first arc-shaped guide groove, of the bundling box;
the second electric cylinder is arranged in the bundling box, the end part of a piston rod of the second electric cylinder is hinged with the locking seat, and the second electric cylinder drives the locking seat to rotate, so that the other end of the second electric cylinder is in butt joint with the right end of the second straight guide groove;
the locking block is arranged in the locking seat, a third electric cylinder is arranged on the locking seat, and a piston rod of the second electric cylinder drives the locking block to be in sliding fit with the locking seat;
the side wall of the locking block is provided with a second arc-shaped guide groove, the front end of the second arc-shaped guide groove is communicated with the first straight guide groove through a third arc-shaped guide groove positioned on the front side of the left end of the locking seat, and the rear end of the second arc-shaped guide groove is communicated with the second straight guide groove through a fourth arc-shaped guide groove positioned on the rear side of the left end of the locking seat;
the tape storage mechanism comprises a tape storage tray, and a rotating shaft of the tape storage tray is in rotating fit with the bottom of the bundling box;
a belt pressing wheel is arranged above the belt storage tray, the belt pressing wheel is arranged at one end of a push rod, the push rod is in sliding fit with the bundling box, and a spring is arranged at the other end of the push rod;
the belt feeding mechanism is arranged on the belt feeding channel and comprises two belt feeding rollers which are arranged up and down, wherein one belt feeding roller is connected with the output end of the fourth servo motor;
the belt drawing mechanism comprises two drawing rollers which are arranged one above the other, and one of the drawing rollers is connected with the output end of the fifth servo motor.
2. The robot for automatically cleaning medical waste as claimed in claim 1, wherein the two groups of walking wheels are symmetrically arranged on the left side and the right side of the base, and each group of walking wheels comprises at least two walking wheels arranged at intervals from front to back;
each walking wheel is provided with a first servo motor, each first servo motor is powered by a power supply arranged on the base, and signal ends of the first servo motors are communicated and connected by an electric control device arranged on the base.
3. The robot for automatically cleaning medical wastes according to claim 1, wherein the mounting frame is made of C-shaped steel, the opening of the mounting frame faces to the right side, the upper end of the C-shaped steel is provided with a top plate, and the lower end of the C-shaped steel is fixedly connected with the base into a whole;
the screw guide rod mechanism comprises a first screw, a second screw and four guide rods, the four guide rods are vertically arranged at four corners of a square, the upper ends of the four guide rods are fixedly connected with the top plate, and the lower ends of the four guide rods are fixedly connected with the top of the bottom frame;
the four guide rods penetrate through the first sliding seat and the second sliding seat, the first lead screw and the second lead screw are vertically arranged among the four guide rods, the lower end of each lead screw is respectively provided with a second servo motor, and the first lead screw and the second lead screw respectively drive the first sliding seat and the second sliding seat to independently lift.
4. The robot for automatically cleaning medical wastes according to claim 1, wherein the mechanical arm comprises an upper arm, a middle arm and a forearm, and two ends of the upper arm are respectively and rotatably connected with one end of the second sliding seat and one end of the middle arm through joint assemblies;
one end of the middle arm is rotatably connected with one end of the front arm through the same joint component, and the other end of the front arm is fixedly connected with the left end of the bundling box.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011054490.5A CN112249565B (en) | 2020-09-30 | 2020-09-30 | Robot for automatically cleaning medical waste |
| CN202110737323.9A CN113247498B (en) | 2020-09-30 | 2020-09-30 | Automatic cleaning method for medical waste |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011054490.5A CN112249565B (en) | 2020-09-30 | 2020-09-30 | Robot for automatically cleaning medical waste |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110737323.9A Division CN113247498B (en) | 2020-09-30 | 2020-09-30 | Automatic cleaning method for medical waste |
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| CN112249565A CN112249565A (en) | 2021-01-22 |
| CN112249565B true CN112249565B (en) | 2021-07-30 |
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| CN202110737323.9A Expired - Fee Related CN113247498B (en) | 2020-09-30 | 2020-09-30 | Automatic cleaning method for medical waste |
| CN202011054490.5A Active CN112249565B (en) | 2020-09-30 | 2020-09-30 | Robot for automatically cleaning medical waste |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110737323.9A Expired - Fee Related CN113247498B (en) | 2020-09-30 | 2020-09-30 | Automatic cleaning method for medical waste |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113183160A (en) * | 2021-04-23 | 2021-07-30 | 青岛大学附属医院 | Medical delivery robot and control system thereof |
| CN113753352B (en) * | 2021-09-28 | 2023-08-11 | 六安市盛源米业有限公司 | Grain processing is with cereal bagging-off device that is convenient for sack struts |
| CN115139236A (en) * | 2022-06-07 | 2022-10-04 | 常州航空工模具有限公司 | Clamping equipment convenient to fix a position fast for automobile motor production |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113247498A (en) | 2021-08-13 |
| CN112249565A (en) | 2021-01-22 |
| CN113247498B (en) | 2022-02-11 |
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